Method and apparatus for augmented locomotion

Abstract

Provided are apparatuses for augmenting human speed, human-driven compliant mechanisms, artificial limbs to augment human movement, and the like. The apparatuses can include variable stiffness mechanisms including springs that can be configured to selectively store and subsequently release energy generated by human movement. The apparatuses can selectively release the captured energy supplied by the human to provide force and power output beyond the physical capability of the human.

What is claimed is: 
     
       1. An augmented locomotion device to increase a legged locomotion speed of a user, comprising:
 a spring configured to be removably coupled to the user; 
 a variable stiffness mechanism that selectively modifies the stiffness of the spring, wherein the variable stiffness mechanism comprises an adjustable lever or cam; and 
 a clutch for intermittently coupling and decoupling the spring from the user; 
 wherein the spring is compressed by the user during a first phase of a locomotion cycle and is released to propel the user when the user impacts a locomotion surface in a second phase of the locomotion cycle. 
 
     
     
       2. The augmented locomotion device of  claim 1 , wherein the spring is removably coupled to a leg of the user. 
     
     
       3. The augmented locomotion device of  claim 1 , wherein the spring is an air spring. 
     
     
       4. The augmented locomotion device of  claim 1 , further comprising an exoskeleton configured to be worn by the user. 
     
     
       5. A human-driven compliant mechanism, comprising:
 an elastic energy storage element configured to capture energy supplied by a human; 
 an adjustable-length lever for varying stiffness of the elastic energy storage element, the adjustable-length lever having a length that is adjustable along a slider-crank mechanism; 
 a clutch for intermittently coupling and decoupling the elastic energy storage element from the human; and 
 wherein the human-driven compliant mechanism is operable to selectively release the captured energy supplied by the human to provide force and power beyond a physical capability of the human. 
 
     
     
       6. The human-driven compliant mechanism of  claim 5 , wherein the adjustable-length lever comprises a rotatable cam. 
     
     
       7. The human-driven compliant mechanism of  claim 6 , wherein the rotatable cam is driven by the human. 
     
     
       8. The human-driven compliant mechanism of  claim 7 , wherein the human-driven compliant mechanism is configured to be removably coupled to a leg of the human and wherein movement of the leg rotates the cam. 
     
     
       9. The human-driven compliant mechanism of  claim 8 , wherein the cam selectively varies a stiffness of the elastic energy storage element. 
     
     
       10. The human-driven compliant mechanism of  claim 5 , wherein the elastic storage element is a spring. 
     
     
       11. The human-driven compliant mechanism of  claim 10 , wherein the spring is an air spring. 
     
     
       12. The human-driven compliant mechanism of  claim 5 , wherein the human-driven compliant mechanism is an exoskeleton configured to be removably coupled to the human. 
     
     
       13. The human-driven compliant mechanism of  claim 5 , wherein the human-driven compliant mechanism is an artificial limb adapted to be removably coupled to the human. 
     
     
       14. An artificial limb operable to augment human movement, comprising:
 a pedal configured to be removably coupled to a limb of a user; 
 a cam; 
 a crank coupled to the pedal and operable to rotate the cam; 
 a variable stiffness spring in mechanical communication with the cam and configured to selectively store and subsequently release energy generated by the human movement; and 
 a clutch for intermittently coupling and decoupling the variable stiffness spring from the user. 
 
     
     
       15. The artificial limb of  claim 14 , wherein the variable stiffness spring is a leaf spring. 
     
     
       16. The artificial limb of  claim 15 , wherein the artificial limb is operable to increase a running speed of the user. 
     
     
       17. The artificial limb of  claim 14 , wherein the variable stiffness spring is an air spring. 
     
     
       18. The artificial limb of  claim 14 , wherein the variable stiffness spring is a coiled spring. 
     
     
       19. The artificial limb of  claim 14 , wherein the artificial limb is adapted to be worn by the user and removably coupled to at least a portion of the user's leg.